Voluntary responses are consciously initiated and controlled actions that require conscious thought and involve the somatic nervous system. In contrast, involuntary responses occur automatically without conscious control, are triggered by sensory stimuli or internal conditions, and are regulated by the autonomic nervous system. Voluntary responses are under conscious awareness and are examples of deliberate actions, such as walking or speaking. Involuntary responses, on the other hand, include reflexive actions like heartbeat, digestion, and pupil dilation, which occur without conscious intention or awareness.